CN111498513A - PP sheet taking device and method - Google Patents
PP sheet taking device and method Download PDFInfo
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- CN111498513A CN111498513A CN202010364058.XA CN202010364058A CN111498513A CN 111498513 A CN111498513 A CN 111498513A CN 202010364058 A CN202010364058 A CN 202010364058A CN 111498513 A CN111498513 A CN 111498513A
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- 230000007246 mechanism Effects 0.000 claims abstract description 154
- 210000000078 claw Anatomy 0.000 claims abstract description 103
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- 238000012546 transfer Methods 0.000 claims description 51
- 238000001179 sorption measurement Methods 0.000 claims description 12
- 238000003475 lamination Methods 0.000 claims description 4
- 239000011162 core material Substances 0.000 description 183
- 238000011068 loading method Methods 0.000 description 57
- 230000008569 process Effects 0.000 description 30
- 238000000926 separation method Methods 0.000 description 30
- 238000007599 discharging Methods 0.000 description 29
- 238000004519 manufacturing process Methods 0.000 description 17
- 238000010030 laminating Methods 0.000 description 9
- 238000005192 partition Methods 0.000 description 9
- 238000007664 blowing Methods 0.000 description 8
- 230000003068 static effect Effects 0.000 description 8
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- 230000009286 beneficial effect Effects 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000008030 elimination Effects 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/005—De-stacking of articles by using insertions or spacers between the stacked layers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G59/00—De-stacking of articles
- B65G59/02—De-stacking from the top of the stack
- B65G59/04—De-stacking from the top of the stack by suction or magnetic devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H5/00—Feeding articles separated from piles; Feeding articles to machines
- B65H5/08—Feeding articles separated from piles; Feeding articles to machines by grippers, e.g. suction grippers
- B65H5/10—Reciprocating or oscillating grippers, e.g. suction or gripper tables
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05F—STATIC ELECTRICITY; NATURALLY-OCCURRING ELECTRICITY
- H05F3/00—Carrying-off electrostatic charges
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0214—Articles of special size, shape or weigh
- B65G2201/022—Flat
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Sheets, Magazines, And Separation Thereof (AREA)
- Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention discloses a PP sheet taking device which comprises a rack, wherein a PP sheet feeding mechanism, a pre-stacking table and a sliding bearing frame are arranged on the rack, PP sheets are placed on the PP sheet feeding mechanism, a PP taking manipulator is arranged on the sliding bearing frame, the PP taking manipulator comprises a taking sliding table and a taking translation driving mechanism for driving the taking sliding table to slide left and right, two taking lifting cylinders are fixed on the taking sliding table and used for driving a taking support arm to ascend or descend, a long-strip-shaped taking suction claw is fixed on the taking support arm and parallel to each other, the two taking suction claws are respectively aligned with the two side edges of the PP sheets, a plurality of taking suction nozzles for adsorbing the PP sheets are fixed on the taking suction claw, and the taking suction nozzles are sequentially arranged along the length direction of the taking suction claw. The invention can improve the working efficiency, reduce the labor cost and has better automation performance.
Description
Technical Field
The invention relates to circuit board production equipment, in particular to a PP sheet taking device and a PP sheet taking method.
Background
The circuit board is also called as PCB board, which is an indispensable device in the current electronic and electrical equipment, and is also an important material for materializing the circuit principle. In the prior art, a circuit board generally includes a plurality of layers of PP sheets, core boards, and the like, which are stacked, and in the production process of the circuit board, the PP sheets, the core boards, and the like need to be pre-stacked, and then press-fit. At present, for PP sheet raw materials placed in multiple layers, a common material taking method is to manually take materials by means of a tool, the material taking method is low in working efficiency and high in labor cost, and cannot be popularized and applied in pre-lamination automation equipment for circuit board material layers.
Disclosure of Invention
The invention aims to solve the technical problem of providing a PP sheet taking device and a PP sheet taking method which can improve the working efficiency, reduce the labor cost and have more automatic performance aiming at the defects of the prior art.
In order to solve the technical problems, the invention adopts the following technical scheme.
The utility model provides a PP piece extracting device, it includes the frame, be equipped with PP piece feed mechanism in the frame, pre-stack platform and slide and bear the frame, PP piece has been placed on the PP piece feed mechanism, slide and bear and be equipped with PP material taking manipulator on the frame, PP material taking manipulator is including getting the material slip table and being used for ordering about getting material slip table and getting material translation actuating mechanism, it gets material lift cylinder to be fixed with two on the material slip table, it is used for ordering about one to get material support arm and rises or descend to get material lift cylinder, it is fixed with long banding material of getting on the support arm and inhales the claw to get material, and two are got material and inhale the claw and are parallel to each other, and two are got material and inhale the claw respectively with the both sides edge alignment of PP piece, it is fixed with a plurality of material suction nozzles that are used for adsorbing PP piece to get material to inhale the claw, and a plurality of, The material taking lifting cylinder is matched with the material taking suction nozzle, the PP sheet on the PP sheet feeding mechanism is picked up in a negative pressure adsorption mode, and the PP sheet is transferred to the pre-stacking platform.
Preferably, be fixed with the shake cylinder on getting the casing of material lift cylinder, get the material support arm and locate on the shake cylinder, borrow by the shake cylinder orders about get the material support arm and rise or descend.
Preferably, the telescopic shaft of the shaking cylinder is fixedly connected with the shell of the material taking lifting cylinder, the shell of the shaking cylinder is fixedly connected with the vertical part of the material taking support arm, and the material taking suction claw is fixedly connected with the horizontal part of the material taking support arm.
A PP sheet taking method is realized based on a taking device, the taking device comprises a rack, a PP sheet feeding mechanism, a pre-stacking platform and a sliding bearing frame are arranged on the rack, PP sheets are placed on the PP sheet feeding mechanism, a PP taking manipulator is arranged on the sliding bearing frame, the PP taking manipulator comprises a taking sliding platform and a taking translation driving mechanism for driving the taking sliding platform to slide left and right, two taking lifting cylinders are fixed on the taking sliding platform and used for driving a taking support arm to ascend or descend, a long-strip-shaped taking suction claw is fixed on the taking support arm, the two taking suction claws are parallel to each other, the two taking suction claws are respectively aligned with the two side edges of the PP sheets, a plurality of taking suction nozzles for adsorbing the PP sheets are fixed on the taking suction claw, and the taking suction nozzles are sequentially arranged along the length direction of the taking suction claw, the material taking method comprises the following steps: step S10, the material taking translation driving mechanism drives the material taking sliding table to translate until the material taking suction claw translates to the position above the PP sheet feeding mechanism; step S11, the material taking lifting cylinder drives the material taking support arm and the material taking suction claw to descend so that the material taking suction nozzle is close to a PP sheet on the PP sheet feeding mechanism; and step S12, the material taking suction nozzle sucks air and generates negative pressure, and the PP sheet on the top layer is adsorbed on the two material taking suction claws by the negative pressure. Step S13, the material taking lifting cylinder drives the material taking support arm and the material taking suction claw to ascend, and the PP sheet on the top layer is taken out from the PP sheet feeding mechanism; step S14, the material taking translation driving mechanism drives the material taking sliding table to translate until the material taking suction claw translates to the position above the pre-stacking table; step S15, the material taking lifting cylinder drives the material taking support arm and the material taking suction claw to descend until the PP sheet is placed on the pre-stacking table, and then the material taking suction nozzle stops sucking air; and step S16, the material taking lifting cylinder drives the material taking support arm and the material taking suction claw to ascend, the material taking suction nozzle is separated from the PP sheet, and the PP sheet is left on the pre-stacking platform.
Preferably, the step S13 further includes a dithering step: when the material taking lifting cylinder drives the material taking support arm and the material taking suction claw to ascend, the material taking translation driving mechanism drives the material taking sliding table to shake left and right.
Preferably, get and be equipped with the shake cylinder on the material lift cylinder, get the material support arm and locate on the shake cylinder, borrow by the shake cylinder orders about get the material support arm and rise or descend, shake in the step: the shaking cylinder drives the material taking support arm and the material taking suction claw to shake up and down, and redundant PP sheets adsorbed by the material taking suction nozzle are shaken off the PP sheet feeding mechanism by matching of left-right shaking and up-down shaking.
The invention discloses a PP sheet taking device, in the execution process, firstly, a taking translation driving mechanism drives a taking sliding table to translate until a taking suction claw translates to the upper part of a PP sheet taking mechanism, then a taking lifting cylinder drives a taking support arm and the taking suction claw to descend so as to enable a taking suction nozzle to be close to a PP sheet on the PP sheet taking mechanism, at the moment, the taking suction nozzle sucks air and generates negative pressure, the PP sheet on the top layer is adsorbed on the two taking suction claws by the negative pressure, then, the taking lifting cylinder drives the taking support arm and the taking suction claw to ascend and takes out the PP sheet on the top layer from the PP sheet taking mechanism, then the taking translation driving mechanism drives the taking sliding table to translate until the taking suction claw translates to the upper part of a pre-laminating table, and then the taking lifting cylinder drives the taking support arm and the taking suction claw to descend, and finally, separating the material taking suction nozzle from the PP sheet, and keeping the PP sheet on the pre-stacking table. Based on the process, the PP sheet taking process is better completed, compared with the prior art, the automatic material taking machine has stronger automation performance, does not need personnel to participate in the material taking process, thereby saving the labor cost and being beneficial to flexible application in pre-lamination automation equipment for the circuit board material layer.
Drawings
FIG. 1 is an overall structure diagram of a pre-laminating apparatus for circuit board material layers;
FIG. 2 is a structural view of a PP sheet feeding mechanism;
FIG. 3 is a block diagram of a PP picking robot;
FIG. 4 is a side view of a PP picking robot;
fig. 5 is a bottom view of the core plate transfer robot;
fig. 6 is a side view of a core plate transfer robot;
FIG. 7 is a block diagram of a transfer station;
FIG. 8 is a side view of the pre-stack station;
FIG. 9 is a first structural diagram of a core plate feeding mechanism and a paper separating and discharging mechanism;
FIG. 10 is a second structural diagram of a core plate feeding mechanism and a paper separating and discharging mechanism;
FIG. 11 is a diagram of a core transfer robot, a core loading robot and a separation loading robot;
fig. 12 is a top view of a core plate feeding robot;
fig. 13 is a front view of a core plate feeding robot;
fig. 14 is a side view of a core plate feeding robot;
figure 15 is a side view of a core plate magazine.
Detailed Description
The invention is described in more detail below with reference to the figures and examples.
Example one
The embodiment provides a PP sheet taking device, which is shown in fig. 1 to 4 and comprises a frame 1, wherein a PP sheet feeding mechanism 2, a pre-stacking table 3 and a sliding bearing frame 7 are arranged on the frame 1, a PP sheet 100 is placed on the PP sheet feeding mechanism 2, a PP taking manipulator 8 is arranged on the sliding bearing frame 7, the PP taking manipulator 8 comprises a taking sliding table 80 and a taking translation driving mechanism 81 for driving the taking sliding table 80 to slide left and right, two taking lifting cylinders 82 are fixed on the taking sliding table 80, the taking lifting cylinders 82 are used for driving a taking support arm 83 to ascend or descend, a long strip-shaped taking suction claw 84 is fixed on the taking support arm 83, the two taking suction claws 84 are parallel to each other, the two taking suction claws 84 are respectively aligned with the edges at two sides of the PP sheet 100, a plurality of taking suction nozzles 85 for adsorbing the PP sheet 100 are fixed on the taking suction claw 84, the plurality of material taking suction nozzles 85 are sequentially arranged along the length direction of the material taking suction claw 84, and the PP sheets 100 on the PP sheet feeding mechanism 2 are picked up in a negative pressure adsorption mode by means of the matching of the material taking translation driving mechanism 81, the material taking lifting cylinder 82 and the material taking suction nozzles 85, and the PP sheets 100 are transferred to the pre-stacking table 3.
In the execution process of the device, the material taking translation driving mechanism 81 drives the material taking sliding table 80 to translate until the material taking suction claw 84 translates to the position above the PP sheet feeding mechanism 2, then the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to descend so as to enable the material taking suction nozzle 85 to be close to the PP sheet 100 on the PP sheet feeding mechanism 2, at the moment, the material taking suction nozzle 85 sucks air and generates negative pressure, the PP sheet 100 on the top layer is adsorbed on the two material taking suction claws 84 by the negative pressure, then the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to ascend, the PP sheet 100 on the top layer is taken out from the PP sheet feeding mechanism 2, then the material taking translation driving mechanism 81 drives the material taking sliding table 80 to translate until the material taking suction claw 84 translates to the position above the pre-stacking table 3, then, the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to descend until the PP sheet 100 is placed on the pre-stacking table 3, then the material taking suction nozzle 85 stops sucking air, and finally the material taking suction nozzle 85 is separated from the PP sheet 100, so that the PP sheet 100 is left on the pre-stacking table 3. Based on the process, the PP sheet taking process is better completed, compared with the prior art, the automatic material taking machine has stronger automation performance, does not need personnel to participate in the material taking process, thereby saving the labor cost and being beneficial to flexible application in pre-lamination automation equipment for the circuit board material layer.
Further, the material taking translation driving mechanism 81 is a motor screw driving mechanism.
In this embodiment, get the telescopic shaft of material lift cylinder 82 with get material slip table 80 fixed connection, borrow by the casing drive of getting material lift cylinder 82 get material support arm 83 and rise or descend.
In order to avoid taking away the multiple PP sheets adhered to each other, a shaking step is preferably set in this embodiment, specifically, a shaking cylinder 86 is fixed on the casing of the material taking lifting cylinder 82, the material taking support arm 83 is arranged on the shaking cylinder 86, and the material taking support arm 83 is driven to ascend or descend by the shaking cylinder 86.
Further, the take-off arm 83 is shaped as "L
As a preferable mode, the telescopic shaft of the shaking cylinder 86 is fixedly connected with the housing of the material taking lifting cylinder 82, the housing of the shaking cylinder 86 is fixedly connected with the vertical part of the material taking support arm 83, and the material taking suction claw 84 is fixedly connected with the horizontal part of the material taking support arm 83.
In order to realize batch material taking, in this embodiment, the PP sheet feeding mechanism 2 includes two PP sheet feeding tables 20, and two PP sheet feeding tables 20 are arranged from top to bottom and are provided with a preset interval therebetween, the sliding bearing frame 7 is provided with two PP material taking manipulators 8, and the two PP material taking manipulators 8 are arranged from top to bottom, and the PP material taking manipulators 8 correspond to the PP sheet feeding tables 20 one to one, so that the two PP material taking manipulators 8 respectively pick up PP sheets 100 from the two PP sheet feeding tables 20 and place the PP sheets on the pre-stacking table 3 according to a preset stacking sequence. Above-mentioned structural design not only can save space, can utilize two PP material taking manipulator 8 to get the material in turn moreover, helps improving production efficiency.
In practical applications, two PP sheets can be placed on the two PP sheet feeding tables 20, and other types of material sheets can also be placed on the two PP sheet feeding tables, so that even if the PP sheets in the present embodiment are replaced by other material sheets, the present invention should also fall within the protection scope of the present invention.
In order to better describe the technical scheme of the embodiment, the embodiment further provides a PP sheet taking method, which is implemented based on a taking device as shown in fig. 1 to 4, wherein the taking device includes a frame 1, a PP sheet feeding mechanism 2, a pre-stacking table 3 and a sliding bearing frame 7 are arranged on the frame 1, a PP sheet 100 is placed on the PP sheet feeding mechanism 2, a PP taking manipulator 8 is arranged on the sliding bearing frame 7, the PP taking manipulator 8 includes a taking sliding table 80 and a taking translation driving mechanism 81 for driving the taking sliding table 80 to slide left and right, two taking lifting cylinders 82 are fixed on the taking sliding table 80, the taking lifting cylinders 82 are used for driving a taking arm 83 to ascend or descend, a strip-shaped taking suction claw 84 is fixed on the taking arm 83, and the two taking suction claws 84 are parallel to each other, and the two material taking suction claws 84 are respectively aligned with the edges of two sides of the PP sheet 100, a plurality of material taking suction nozzles 85 for adsorbing the PP sheet 100 are fixed on the material taking suction claws 84, the material taking suction nozzles 85 are sequentially arranged along the length direction of the material taking suction claws 84, and the material taking method comprises the following steps:
step S10, the material taking translation driving mechanism 81 drives the material taking sliding table 80 to translate until the material taking suction claw 84 translates to the position above the PP sheet feeding mechanism 2;
step S11, the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to descend, so that the material taking suction nozzle 85 approaches the PP sheet 100 on the PP sheet feeding mechanism 2;
in step S12, the material taking suction nozzle 85 sucks air and generates a negative pressure, and the PP sheet 100 on the top layer is attracted to the two material taking suction claws 84 by the negative pressure.
Step S13, the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to ascend, and takes out the PP sheet 100 on the top layer from the PP sheet feeding mechanism 2;
step S14, the material taking translation driving mechanism 81 drives the material taking sliding table 80 to translate until the material taking suction claw 84 translates to the position above the pre-stacking table 3;
step S15, the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to descend until the PP sheet 100 is placed on the pre-stacking table 3, and then the material taking suction nozzle 85 stops sucking air;
step S16, the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to rise, the material taking suction nozzle 85 is separated from the PP sheet 100, and the PP sheet 100 is left on the pre-stacking table 3.
Preferably, the step S13 further includes a dithering step:
when the material taking lifting cylinder 82 drives the material taking support arm 83 and the material taking suction claw 84 to rise, the material taking translation driving mechanism 81 drives the material taking sliding table 80 to shake left and right.
Further, a shaking cylinder 86 is arranged on the material taking lifting cylinder 82, the material taking support arm 83 is arranged on the shaking cylinder 86, the material taking support arm 83 is driven to ascend or descend by the shaking cylinder 86, and in the shaking step:
the shaking cylinder 86 drives the material taking support arm 83 and the material taking suction claw 84 to shake up and down, and the left shaking and the right shaking are matched with the up and down shaking to shake off the redundant PP sheets 100 adsorbed by the material taking suction nozzle 85 on the PP sheet feeding mechanism 2.
Example two
The embodiment provides a pre-laminating device for circuit board material layers, which is shown in fig. 1 to 11 and comprises a frame 1, wherein a PP sheet feeding mechanism 2, a pre-laminating table 3, a transfer table 4, a core plate feeding mechanism 5 and a paper separating feeding mechanism 6 are sequentially arranged on the frame 1 from left to right, a sliding bearing frame 7 arranged from left to right is further arranged on the frame 1, a PP taking manipulator 8, a core plate transfer manipulator 9, a core plate feeding manipulator 10 and a paper separating feeding manipulator 11 are sequentially arranged on the sliding bearing frame 7 from left to right, the PP taking manipulator 8 is used for picking up a PP sheet 100 from the PP sheet feeding mechanism 2 and placing the PP sheet on the pre-laminating table 3, the core plate feeding manipulator 10 is used for picking up a core plate from the core plate feeding mechanism 5 and placing the core plate on the transfer table 4, the paper separating feeding manipulator 11 is used for picking up two paper separating between the core plate feeding mechanism 5 and placing the paper separating feeding mechanism 6, the core plate transfer manipulator 9 is used for picking up the core plates from the transfer table 4 and placing the core plates on the pre-stacking table 3, and the PP sheets 100 and the chips are stacked on the pre-stacking table 3 according to a preset stacking sequence through the matching of the PP material taking manipulator 8, the core plate transfer manipulator 9, the core plate feeding manipulator 10 and the paper separating and discharging manipulator 11.
In the practical application process of the device, the PP sheet taking step, the core plate taking step, the paper separating and blanking step and the core plate transferring step can be started according to a preset execution sequence according to the hierarchical structure of a circuit board, and in the execution process, the PP sheet 100 and the chips are stacked on the pre-stacking table 3 according to a preset stacking sequence by means of the cooperation of the PP sheet taking manipulator 8, the core plate transferring manipulator 9, the core plate feeding manipulator 10 and the paper separating and blanking manipulator 11. Compared with the prior art, the automatic production line has the advantages that manual operation is not needed, the labor intensity of personnel is greatly reduced, the labor cost is effectively saved, the production efficiency is improved, in addition, the automation performance of the automatic production line is higher, the error rate in the production process can be effectively reduced, and the product quality of the circuit board is further improved.
In order to better pick up the PP sheets, in this embodiment, the PP taking manipulator 8 picks up the PP sheets 100 in a negative pressure adsorption manner, the core plate transferring manipulator 9 and the core plate feeding manipulator 10 both pick up the core plates in a negative pressure adsorption manner, and the paper separating and discharging manipulator 11 picks up the paper separating in a negative pressure adsorption manner.
Further, a material vehicle 12 is included, and the material vehicle 12 transfers a preset core plate feeding box 50 to the core plate feeding mechanism 5 and transfers a preset paper separation discharging box 60 to the paper separation discharging mechanism 6.
Regarding the concrete structure of the core plate transfer manipulator 9, in this embodiment, the core plate transfer manipulator 9 includes a transfer sliding table 90 and a transfer translation driving mechanism 95 for driving the transfer sliding table 90 to slide left and right, a transfer lifting cylinder 91 is fixed on the transfer sliding table 90, the transfer lifting cylinder 91 is used for driving two transfer support arms 92 to ascend or descend, a long transfer claw 93 is fixed on the transfer support arm 92, the two transfer claws 93 are parallel to each other, and the two transfer claws 93 are respectively aligned with the two side edges of the core plate, a plurality of transfer suction nozzles 94 for adsorbing the core plate are fixed on the transfer claw 93, the plurality of transfer suction nozzles 94 are sequentially arranged along the length direction of the transfer claw 93, and by the cooperation of the transfer translation driving mechanism 95, the transfer lifting cylinder 91, the suction claw 93 and the transfer suction nozzle 94, and picking up the core plate on the transfer table 4 in a negative pressure adsorption mode, and transferring the core plate to the pre-stacking table 3.
In order to position the core board and align the core board transferring manipulator 9 with the core board on the transferring table 4, in this embodiment, a plurality of positioning slots 40 are formed on the transferring table 4, the plurality of positioning slots 40 are uniformly distributed along the circumferential direction of the transferring table 4, a support base 41 is arranged below the transferring table 4, the transferring table 4 is fixed on the support base 41, four movable blocks 42 and a positioning clamping driving mechanism 43 for driving the four movable blocks 42 to move away from or approach to each other are arranged on the support base 41, the four movable blocks 42 are symmetrically arranged around the transferring table 4, a plurality of positioning fingers 420 are formed at the top of the movable blocks 42, the positioning fingers 420 are aligned with the positioning slots 40 one by one, the positioning fingers 420 pass through the positioning slots 40 and extend upward, and the positioning fingers 420 can move in the positioning slots 40, when the core board is placed on the transfer table 4, the positioning and clamping driving mechanism 43 drives the four movable blocks 42 to relatively approach, and the core board is positioned on the transfer table 4 by the positioning fingers 420 around the core board.
Further, the positioning slot 40 is an elongated slot.
In order to improve the feeding efficiency of the PP sheets, in this embodiment, the feeding mechanism 2 of the PP sheets includes two feeding tables 20 of the PP sheets, the two feeding tables 20 of the PP sheets are vertically arranged and a preset distance is arranged between the two feeding tables, the sliding bearing frame 7 is provided with two feeding manipulators 8 of the PP sheets, the two feeding manipulators 8 of the PP sheets are vertically arranged, the feeding manipulators 8 of the PP sheets are in one-to-one correspondence with the feeding tables 20 of the PP sheets, and the two feeding manipulators 8 of the PP sheets pick up the PP sheets 100 from the two feeding tables 20 of the PP sheets respectively and place the PP sheets on the pre-stacking table 3 according to a preset stacking sequence.
As a preferable mode, a first weighing sensor is disposed on the PP sheet feeding table 20, and the first weighing sensor is configured to collect the weight of the multi-layer PP sheet 100 and feed back the weight to a preset controller in the form of an electrical signal. In practical application, two or more pieces of PP pieces may be sticky when the materials are taken, when the multilayer PP piece 100 is taken away one layer each time, the weight value fed back by the first weighing sensor is reduced, the controller can judge whether the PP taking manipulator 8 takes away the plurality of PP pieces at the same time according to the weight difference before and after taking away the PP pieces, and if the PP pieces are taken away at the same time, the controller sends out an alarm prompt in time.
In this embodiment, be equipped with on frame 1 and fold material elevating system 30 in advance, fold platform 3 in advance and locate the lift end of folding material elevating system 30 in advance, the controller is used for according to the material thickness that 3 stacks in advance of folding platform control in real time fold material elevating system 30 in advance goes up and down, and then control the vertical height of folding platform 3 in advance. In practical application, after the layers are stacked, the overall thickness of the layers is increased, and in order to ensure that the height position of the top layer is constant, the embodiment utilizes the pre-stacking material lifting mechanism 30 to drive the pre-stacking table 3 to move up and down slightly, so that the height of the stacked top layer is kept constant, and the top layer is better matched with each mechanical arm.
In order to better describe the technical scheme of the invention, the invention also discloses a pre-laminating process of circuit board material layers, which is realized based on a device and is shown in fig. 1 to 11, wherein the device comprises a frame 1, the frame 1 is sequentially provided with a PP sheet feeding mechanism 2, a pre-laminating table 3, a transfer table 4, a core plate feeding mechanism 5 and a paper separation feeding mechanism 6 from left to right, the frame 1 is further provided with a left-right sliding bearing frame 7, the sliding bearing frame 7 is sequentially provided with a PP material taking manipulator 8, a core plate transfer manipulator 9, a core plate feeding manipulator 10 and a paper separation feeding manipulator 11 from left to right, and the process comprises the following steps:
taking PP sheets: picking up the PP sheet 100 from the PP sheet feeding mechanism 2 by using the PP material taking manipulator 8 and placing the PP sheet on the pre-stacking table 3;
a core plate taking step: picking up a core board from the core board feed mechanism 5 by using the core board feed manipulator 10 and placing on the transfer table 4;
paper separation blanking: picking up the partition paper between the two core plates from the core plate feeding mechanism 5 by using the partition paper blanking manipulator 11 and placing the partition paper on the partition paper blanking mechanism 6;
a core plate transferring step: picking up a core plate from the transfer table 4 by the core plate transfer manipulator 9 and placing the core plate on the pre-stacking table 3;
by controlling the execution sequence of the PP sheet taking step, the core board taking step, the paper separating and blanking step and the core board transferring step, the PP sheet 100 and the chips are stacked on the pre-stacking table 3 according to a preset stacking sequence by means of the cooperation of the PP sheet taking manipulator 8, the core board transferring manipulator 9, the core board feeding manipulator 10 and the paper separating and blanking manipulator 11.
EXAMPLE III
At present, multiple PP sheets are influenced by factors such as static electricity in the stacking process, the situation that two or multiple PP sheets are taken away at the same time usually occurs when the materials are taken out, once the number of the taken-out PP sheets is wrong, a circuit board is directly scrapped, the error rate and the error rate are high, and the production requirement is difficult to meet.
To this end, the present embodiment provides a PP sheet feeding mechanism capable of avoiding mistaken taking of a plurality of PP sheets due to electrostatic adsorption, so as to improve accuracy of a taking operation and contribute to improving a yield of a circuit board, please refer to fig. 1 and fig. 2, the PP sheet feeding mechanism 2 includes a square PP sheet feeding table 20, four stoppers 21 are fixed on the PP sheet feeding table 20, the four stoppers 21 are respectively close to four edges of the PP sheet feeding table 20, PP sheets 100 stacked in multiple layers are placed between the four stoppers 21, and an electrostatic eliminating mechanism 23 for blowing negative ion wind to the PP sheets 100 is arranged obliquely above the PP sheet feeding table 20.
In the structure, the four stoppers 21 are arranged on the PP sheet feeding table 20, the four stoppers 21 play a role in resisting the PP sheets from the periphery, so that the PP sheets are positioned before being taken, meanwhile, the static eliminating mechanism 23 is arranged above the PP sheet feeding table 20 in an inclined manner, the static eliminating mechanism 23 is used for blowing negative ion wind to the PP sheets 100, and the negative ion wind plays a role in eliminating static electricity of the PP sheets.
Preferably, the stopper 21 is an elongated stopper, and the stopper 21 extends along an edge of the PP sheet feeding table 20.
When putting into multilayer PP piece raw materials, in order to discharge bottom air current for the multilayer PP piece accuracy falls into between four dog 21, in this embodiment, the fretwork hole 200 has been seted up on the PP piece material loading platform 20, fretwork hole 200 runs through in the upper and lower both sides of PP piece material loading platform 20.
In order to support and fix the PP sheet feeding table 20, in this embodiment, the PP sheet feeding mechanism 2 includes a vertical bracket 22, and the PP sheet feeding table 20 is fixed on the vertical bracket 22.
In order to realize batch loading, in this embodiment, two PP sheet loading platforms 20 arranged up and down are fixed on the vertical support 22, and a preset interval is arranged between the two PP sheet loading platforms 20.
Regarding the specific structure of the static electricity eliminating mechanism 23, in this embodiment, the static electricity eliminating mechanism 23 includes an air outlet box 230, the air outlet box 230 is communicated with an anion air source, a plurality of blowing nozzles 231 are arranged on the air outlet box 230, and the blowing nozzles 231 face the PP sheet feeding table 20.
In order to expand the blowing range of the negative ion wind, in this embodiment, the air outlet box 230 is in a shape of a strip, and a plurality of blowing nozzles 231 are sequentially distributed along the length direction of the air outlet box 230.
Preferably, the static electricity eliminating mechanism 23 includes a U-shaped bracket 232, and the air outlet box 230 is mounted on the U-shaped bracket 232.
In order to adjust the blowing direction conveniently, in this embodiment, two ends of the U-shaped bracket 232 are respectively provided with a hinge piece 233 capable of rotating within a preset angle, and two ends of the air outlet box 230 are respectively fixedly connected with the two hinge pieces 233.
In this embodiment, two L-shaped loading frames 24 are fixed on the vertical support 22, and the two PP sheet loading platforms 20 are respectively fixed on the two L-shaped loading frames 24.
In order to better match with the circuit board material layer pre-laminating device, in this embodiment, the frame 1 is further provided with a feeding table lifting driving mechanism 25 for driving the vertical support 22 to ascend or descend, and is fixedly connected with the driving end of the feeding table lifting driving mechanism 25 through the L-shaped bearing frame 24.
Example four
The circuit board is in the pre-coincide process and must involve the core material loading step, and the multilayer core raw materials are generally range upon range of and are placed in the magazine, and in order to avoid taking place the friction between the adjacent core, need place the paper that separates between two-layer core to play the guard action, when carrying out the pre-coincide step, need take out the collection at the back of top layer core, so that reuse. The process belongs to a core plate and separation paper distributing and taking process, and at present, the processes are completed manually, so that the working efficiency is low, the labor cost is high, the automation performance is lacked, and the requirements of automatic production cannot be met.
To this end, this embodiment has provided a can accomplish the core automatically and has separated material work of getting of paper, need not artifical the participation, the cost of using manpower sparingly, has more automatic performance's core branch material extracting device moreover, combine fig. 1, fig. 9 to fig. 14 to show, it is including frame 1, be equipped with transfer platform 4, core feed mechanism 5 on the frame 1, separate paper unloading mechanism 6 and bear frame 7 that slides, transfer platform 4, core feed mechanism 5 and separate paper unloading mechanism 6 and set gradually from left to right, it is equipped with core feed manipulator 10 and separate paper unloading manipulator 11 on the bearing frame 7 to slide, core feed mechanism 5 is including core material loading box 50, a plurality of cores of range upon range of placing are equipped with in the core material loading box 50 splendid attire, press from both sides between two adjacent cores and be equipped with at a distance from paper unloading mechanism 6 including separating paper unloading box 60, core material loading manipulator 10 is including material loading sliding table 13 and being used for ordering about material loading table 13 horizontal slip's last material loading The paper core separating and discharging manipulator comprises a material translation driving mechanism 130, a lifting driving module 131 is fixed on a material loading sliding table 13, the lifting driving module 131 is used for driving a material loading support arm 132 to ascend or descend, a long-strip-shaped material loading suction claw 133 is fixed on the material loading support arm 132, the two material loading suction claws 133 are parallel to each other, the two material loading suction claws 133 are respectively aligned with the two side edges of a core plate, a plurality of material loading suction nozzles 134 used for adsorbing the core plate are fixed on the material loading suction claw 133, the plurality of material loading suction nozzles 134 are sequentially arranged along the length direction of the material loading suction claw 133, the core plate in a core plate material loading box 50 is picked up through the matching of the material loading translation driving mechanism 130, the lifting driving module 131, the material loading suction claw 133 and the material loading suction nozzle 134, and the core plate is transferred to a transfer table 4, the structure of the paper core separating and discharging manipulator 11 is the same as that of the material loading manipulator 10, the paper separation blanking manipulator 11 is used for picking up the paper separation in the core board feeding box 50 in a negative pressure adsorption mode and transferring the paper separation to the paper separation blanking box 60.
In the process of executing the core plate distributing and taking device, the core plate feeding manipulator 10 firstly translates to the position above the core plate feeding box 50, at this time, the paper separation blanking manipulator 11 is positioned above the paper separation blanking box 60, when the core plate feeding manipulator 10 takes out the core plate, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 sucks air and generates negative pressure, the core plate is adsorbed by the negative pressure, then the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to rise, then the feeding translation driving mechanism 130 drives the feeding sliding table 13 to translate until the core plate is transferred to the position above the transfer table 4, finally the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 stops sucking air, and the core board is placed on the transfer table 4; based on the above process, the core board feeding manipulator 10 finishes core board material taking, and since the structure of the paper separating and discharging manipulator 11 is the same as that of the core board feeding manipulator 10, the paper separating and discharging manipulator 11 only needs to pick up the paper separating in the core board feeding box 50 in a negative pressure adsorption manner according to the above action process, and transfer the paper separating to the paper separating and discharging box 60, so that the paper separating and discharging step can be finished. Compared with the prior art, the automatic material distributing and taking device has the advantages that the automatic material distributing and taking process of the core board separation paper is well completed, the production efficiency is improved, the production cost is effectively saved, and the production requirement is further met.
In order to realize up-and-down movement, in this embodiment, a vertical sliding block 136 is fixed on the feeding sliding table 13, a vertical sliding rail 137 is fixed on the feeding support arm 132, the vertical sliding rail 137 passes through the vertical sliding block 136 and is in sliding fit with the vertical sliding block 136, the lifting drive module 131 is fixed on the feeding support arm 132, and the driving end of the lifting drive module 131 is connected to the feeding sliding table 13.
In order to further improve the structural stability, in this embodiment, two vertical sliding rails 137 that are parallel to each other are fixed on the feeding support arm 132, four vertical sliding blocks 136 are fixed on the feeding sliding table 13, and each vertical sliding rail 137 correspondingly penetrates through two vertical sliding blocks 136.
Further, the loading arm 132 is an "L" shaped arm.
Preferably, the lifting driving module 131 is fixed on the vertical portion of the feeding arm 132.
In order to fix the two feeding suction claws 133, in this embodiment, a feeding beam 138 is fixed on the horizontal portion of the feeding arm 132, and the two feeding suction claws 133 are respectively fixed on two ends of the feeding beam 138.
In order to better eliminate static electricity, in the present embodiment, the frame 1 is provided with an electrostatic elimination mechanism 56, the electrostatic elimination mechanism 56 is disposed adjacent to the core board feeding mechanism 5, and the electrostatic elimination mechanism 56 is used for blowing negative ion wind to the core board feeding mechanism 5.
The embodiment also relates to a core plate distributing and taking method, which is realized based on a taking device as shown in fig. 1 and fig. 9 to fig. 14, and comprises a frame 1, wherein a transferring table 4, a core plate feeding mechanism 5, a paper separating and discharging mechanism 6 and a sliding bearing frame 7 are arranged on the frame 1, the transferring table 4, the core plate feeding mechanism 5 and the paper separating and discharging mechanism 6 are sequentially arranged from left to right, a core plate feeding manipulator 10 and a paper separating and discharging manipulator 11 are arranged on the sliding bearing frame 7, the core plate feeding mechanism 5 comprises a core plate feeding box 50, a plurality of core plates which are stacked are contained in the core plate feeding box 50, a piece of paper is clamped between two adjacent core plates, the paper separating and discharging mechanism 6 comprises a paper separating and discharging box 60, the core plate feeding manipulator 10 comprises a feeding sliding table 13 and a feeding translation driving mechanism 130 for driving the feeding sliding table 13 to slide left and right, the material loading sliding table 13 is fixed with a lifting drive module 131, the lifting drive module 131 is used for driving a material loading support arm 132 to ascend or descend, the material loading support arm 132 is fixed with a long strip-shaped material loading suction claw 133, the two material loading suction claws 133 are parallel to each other, and the two material loading suction claws 133 are respectively aligned with the two side edges of the core plate, the material loading suction claw 133 is fixed with a plurality of material loading suction nozzles 134 for adsorbing the core plate, the plurality of material loading suction nozzles 134 are arranged along the length direction of the material loading suction claw 133 in sequence, and the material loading method comprises the following steps:
step S20, translating the core board feeding manipulator 10 to above the core board feeding box 50, and positioning the paper separation discharging manipulator 11 above the paper separation discharging box 60;
step S21, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 sucks air and generates negative pressure, and the core board is adsorbed by the negative pressure;
step S22, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to rise, and then the feeding translational driving mechanism 130 drives the feeding sliding table 13 to translate until the core board is transferred to the position above the transfer table 4;
step S23, the lifting driving module 131 drives the feeding support arm 132 and the feeding suction claw 133 to descend, the feeding suction nozzle 134 stops sucking air, and the core board is placed on the transfer table 4;
the structure of the partition paper feeding manipulator 11 is the same as that of the core board feeding manipulator 10, and the partition paper feeding manipulator 11 picks up partition paper in the core board feeding box 50 by means of negative pressure adsorption according to the operation processes from step S20 to step S23, and transfers the partition paper to the partition paper feeding box 60.
EXAMPLE five
In the practical application process, when a preset manipulator takes out the core plate and the separation paper from the material box, in order to avoid the situation of mistakenly taking the materials, the core plate and the separation paper need to be accurately distinguished, the existing distinguishing means is a mode of manual observation, the distinguishing measure is not only low in efficiency, but also is easy to cause the material taking error due to fatigue of operators, the production quality of the circuit board is seriously influenced, and the production requirement cannot be met.
In view of the above, the present embodiment provides a core board separating paper dividing and detecting device capable of improving the accuracy and reliability of the core board material taking process, and improving the production quality of circuit boards, and having more automation performance, as shown in fig. 1 and fig. 11 to fig. 14, the core board separating paper dividing and detecting device includes a frame 1, a core board feeding mechanism 5 and a sliding carrier 7 are arranged on the frame 1, a core board feeding manipulator 10 and a separating paper discharging manipulator 11 are arranged on the sliding carrier 7, the core board feeding mechanism 5 includes a core board feeding box 50, a plurality of stacked core boards are contained in the core board feeding box 50, a separating paper is sandwiched between two adjacent core boards, the core board feeding manipulator 10 is used for picking up the core boards in the core board feeding box 50 by a negative pressure adsorption manner, the core board feeding manipulator 10 includes a feeding beam 138 and a color sensor 139, the color sensor 139 is mounted on the feeding beam 138, the response end of color sensor 139 sets up down, separate paper unloading manipulator 11 the structure with core board material loading manipulator 10's structure is the same, separate paper unloading manipulator 11 and be used for picking up through the adsorbed mode of negative pressure the interior paper that separates of core board material loading box 50, color sensor 139 is used for gathering the colour and feeds back to predetermined controller with the form of signal of telecommunication, the controller basis the signal of telecommunication that color sensor 139 feedbacks is judged whether core board is picked up to core board material loading manipulator 10, and judges it picks up and separates the paper to separate paper unloading manipulator 11.
In the above structure, utilize core material loading manipulator 10 and separate paper unloading manipulator 11 to get the material respectively with separating the paper core, be in simultaneously core material loading manipulator 10 has configured colour sensor 139 respectively in separating paper unloading manipulator 11, with core material loading manipulator 10 is for example, utilize install on the material loading crossbeam 138 colour sensor 139 the core material loading manipulator 10 when picking up the core, through the colour data of colour sensor 139 feedback, predetermined controller can judge according to colour data whether core material loading manipulator 10 picked up is the core or separates the paper, if what picked up this moment separates the paper, then belongs to the mistake and picks up the action, the controller can in time send the warning suggestion, correspondingly, it also possesses the colour collection and judges the function to separate paper unloading manipulator 11. Based on the principle, the invention can greatly improve the accuracy of the material distribution process of the core board and the separation paper, effectively avoid the occurrence of material mistaken taking, is beneficial to improving the production quality of the circuit board and has better automation performance.
Based on above-mentioned color sensor, this embodiment not only is used for distinguishing core and separation paper, still can be used to pick up sheets such as film, and simultaneously, color sensor also is not limited to the sheet that detects the different grade type, can also judge monolithic sheet and multi-disc sheet, for example, when the manipulator picked up the multi-disc film, its colour depth is different with the monolithic film, the colour data of feeding back in view of the above is also different, the controller is according to this colour difference, can judge that the manipulator picked up whether monolithic or the multi-disc, and then improve the accuracy of getting the material process, still can in time send out the warning suggestion to the user simultaneously, not only the accuracy is better, and also further promoted the automated performance.
Preferably, the core plate feeding robot 10 includes two feeding suction claws 133 parallel to each other, and the two feeding suction claws 133 are fixed to both ends of the feeding cross member 138, respectively.
In order to more accurately collect the sheet color, in the present embodiment, the color sensor 139 is located between the two feeding suction claws 133.
On this basis, this embodiment still has a material taking detection function, specifically means, core feed mechanism 5 is including detecting cylinder 51, detecting cylinder 51 is fixed in frame 1, be fixed with material loading induction mechanism 52 on detecting cylinder 51's the telescopic shaft, after core feed manipulator 10 picks up the core or separate paper unloading manipulator 11 picks up the paper, detecting cylinder 51 orders about material loading induction mechanism 52 to stretch out in core feed box 50, when material loading induction mechanism 52 senses the core or to separate the paper the time feed back an electric signal to the controller. Based on above-mentioned structure, help the controller to judge whether the manipulator accurately gets the sheet material to further improve and get the accuracy and the reliability of material action.
In order to provide a better supporting function, in this embodiment, the feeding sensing mechanism 52 includes a sensing bracket 520 and a material sensor 521, the sensing bracket 520 is fixedly connected to the telescopic shaft of the detection cylinder 51, and the material sensor 521 is fixed on the sensing bracket 520.
Preferably, the material sensor 521 is an infrared pair tube sensor or a proximity switch.
EXAMPLE six
In practical application, in the core feeding and paper separating discharging processes, the material box is generally required to be used for loading raw materials and paper separating, meanwhile, the material box is required to be manually placed on the core feeding station and the paper separating discharging station, the material taking and discharging are completed, and the material changing box is manually taken.
To this, this embodiment has provided one kind and has helped realizing automatic getting and put the magazine to improve the core and separate the last unloading efficiency of paper, save the magazine transfer mechanism of cost of labor simultaneously, combine fig. 1, fig. 9 to fig. 15 to show, it is including frame 1 and core material car 15 and separate paper material car, be equipped with core feed mechanism 5 and separate paper unloading mechanism 6 on the frame 1, wherein:
a first material parking space 53 capable of pushing the core plate material vehicle 15 is arranged below the core plate feeding mechanism 5, a first material box lifting mechanism 55 is arranged on the core plate material vehicle 15, a core plate feeding box 50 is placed at the lifting end of the first material box lifting mechanism 55, the core plate feeding mechanism 5 comprises a first locking mechanism 54, when the core plate material vehicle 15 is pushed into the first material parking space 53, the core plate material vehicle 15 is fixed in the first material parking space 53 through the first locking mechanism 54, and then the core plate feeding box 50 is driven to rise to a preset height by the first material box lifting mechanism 55;
the paper separation discharging mechanism 6 is characterized in that a second material vehicle position 63 capable of pushing the paper separation material vehicle is arranged below the paper separation discharging mechanism 6, a second material box lifting mechanism is arranged on the paper separation material vehicle, a paper separation discharging box 60 is placed at the lifting end of the second material box lifting mechanism, the paper separation discharging mechanism 6 comprises a second locking mechanism, when the paper separation material vehicle is pushed into the second material vehicle position 63, the paper separation material vehicle is fixed on the second material vehicle position 63 through the second locking mechanism, and the paper separation discharging box 60 is driven to ascend to a preset height through the second material box lifting mechanism.
In the structure, the first material parking space 53 and the second material parking space 63 are respectively arranged below the core plate feeding mechanism 5 and the paper separating discharging mechanism 6, when the process of taking and replacing the material boxes is performed, the core plate material vehicle 15 and the paper separating material vehicle are respectively pushed into the first material parking space 53 and the second material parking space 63, the core plate material vehicle 15 and the paper separating material vehicle are fixed through the locking mechanism, the material boxes can be driven to ascend to the preset material taking and placing height by utilizing the material box lifting mechanisms on the two material vehicles, the process of taking and placing the material boxes can be automatically completed, the action process is simple and reliable, time and labor are saved, the labor cost is saved, the work efficiency of the pre-laminating equipment for the circuit board material layers is improved, and the production requirements are well met.
In order to position the magazine after the magazine is raised to a predetermined height, in this embodiment, at least two first positioning cylinders 54 are fixed to the frame 1, the first positioning cylinders 54 are respectively disposed on two sides of the core plate feeding magazine 50, a first positioning block 540 is fixed to a telescopic shaft of the first positioning cylinder 54, when the first magazine lifting mechanism 55 drives the core plate feeding magazine 50 to be raised to the predetermined height, the first positioning cylinder 54 drives the first positioning block 540 to extend out, and the core plate feeding magazine 50 is clamped and positioned by the first positioning blocks 540 on two sides of the core plate feeding magazine 50.
In practical application, the core plate material trolley 15 and the paper separation material trolley have the same structure, and in order to facilitate movement of the core plate material trolley, 4 universal wheels 150 are arranged at the bottom of the core plate material trolley 15 in the embodiment.
Further, a vertically arranged handrail 151 is arranged on the side of the core plate material trolley 15.
In order to realize batch transportation, in this embodiment, at least two core plate upper material boxes 50 stacked up on top of each other are placed at the lifting end of the first material box lifting mechanism 55.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the technical scope of the present invention should be included in the scope of the present invention.
Claims (10)
1. The PP sheet taking device is characterized by comprising a rack (1), a PP sheet feeding mechanism (2), a pre-stacking platform (3) and a sliding bearing frame (7) are arranged on the rack (1), PP sheets (100) are placed on the PP sheet feeding mechanism (2), a PP taking manipulator (8) is arranged on the sliding bearing frame (7), the PP taking manipulator (8) comprises a taking sliding platform (80) and a taking translation driving mechanism (81) used for driving the taking sliding platform (80) to slide left and right, two taking lifting cylinders (82) are fixed on the taking sliding platform (80), the taking lifting cylinders (82) are used for driving a taking support arm (83) to ascend or descend, a taking claw (84) fixed on the taking support arm (83) is fixed, the two taking claws (84) are parallel to each other, and the two taking claws (84) are respectively aligned with the two long-strip-shaped edges of the PP sheets (100), get and be fixed with a plurality of material suction nozzles (85) of getting that are used for adsorbing PP piece (100) on the material suction claw (84), a plurality of material suction nozzles (85) of getting are followed the length direction who gets material suction claw (84) sets gradually, borrow by get material translation actuating mechanism (81), get material lift cylinder (82) and get the cooperation of material suction nozzle (85), pick up PP piece (100) on PP piece feed mechanism (2) through negative pressure adsorption mode, and will PP piece (100) transfer extremely on the pre-lamination platform (3).
2. The PP sheet take off device as defined in claim 1, wherein the take off translation drive mechanism (81) is a motor screw drive mechanism.
3. The PP sheet taking device as claimed in claim 1, wherein the telescopic shaft of the taking lifting cylinder (82) is fixedly connected with the taking sliding table (80), and the taking support arm (83) is driven to ascend or descend by the shell of the taking lifting cylinder (82).
4. The PP sheet taking device according to claim 3, wherein a shaking cylinder (86) is fixed on a housing of the taking lifting cylinder (82), the taking arm (83) is arranged on the shaking cylinder (86), and the taking arm (83) is driven to ascend or descend by the shaking cylinder (86).
5. The PP sheet take off device as recited in claim 4, wherein said take off arm (83) is shaped as "L".
6. The PP sheet taking device according to claim 5, wherein a telescopic shaft of the shaking cylinder (86) is fixedly connected with a housing of the taking lifting cylinder (82), the housing of the shaking cylinder (86) is fixedly connected with a vertical part of the taking arm (83), and the taking suction claw (84) is fixedly connected with a horizontal part of the taking arm (83).
7. The PP sheet taking device according to claim 1, wherein the PP sheet feeding mechanism (2) comprises two PP sheet feeding tables (20), the two PP sheet feeding tables (20) are arranged up and down with a preset distance therebetween, the sliding carrier (7) is provided with two PP taking manipulators (8), the two PP taking manipulators (8) are arranged up and down, the PP taking manipulators (8) correspond to the PP sheet feeding tables (20) one by one, and the PP sheets (100) are respectively picked up from the two PP sheet feeding tables (20) by the two PP taking manipulators (8) and are placed on the pre-stacking table (3) according to a preset stacking sequence.
8. The PP sheet taking method is characterized in that the taking method is realized based on a taking device, the taking device comprises a rack (1), a PP sheet feeding mechanism (2), a pre-stacking platform (3) and a sliding bearing frame (7) are arranged on the rack (1), PP sheets (100) are placed on the PP sheet feeding mechanism (2), a PP taking manipulator (8) is arranged on the sliding bearing frame (7), the PP taking manipulator (8) comprises a taking sliding platform (80) and a taking translation driving mechanism (81) for driving the taking sliding platform (80) to slide left and right, two taking lifting cylinders (82) are fixed on the taking sliding platform (80), the taking lifting cylinders (82) are used for driving a taking support arm (83) to ascend or descend, and a long-strip-shaped taking suction claw (84) is fixed on the taking support arm (83), two get material suction claw (84) and be parallel to each other, and two get material suction claw (84) respectively with the both sides edge of PP piece (100) aligns, get and be fixed with a plurality of material suction nozzles (85) of getting that are used for adsorbing PP piece (100) on material suction claw (84), a plurality of material suction nozzles (85) of getting are followed get the length direction of material suction claw (84) and set gradually, get the material method and include:
step S10, the material taking translation driving mechanism (81) drives the material taking sliding table (80) to translate until the material taking suction claw (84) translates to the position above the PP sheet feeding mechanism (2);
step S11, the material taking lifting cylinder (82) drives the material taking support arm (83) and the material taking suction claw (84) to descend so that the material taking suction nozzle (85) is close to the PP sheet (100) on the PP sheet feeding mechanism (2);
and step S12, the material taking suction nozzle (85) sucks air and generates negative pressure, and the PP sheet (100) on the top layer is adsorbed on the two material taking suction claws (84) by the negative pressure.
Step S13, the material taking lifting cylinder (82) drives the material taking support arm (83) and the material taking suction claw (84) to ascend, and the PP sheet (100) on the top layer is taken out from the PP sheet feeding mechanism (2);
step S14, the material taking translation driving mechanism (81) drives the material taking sliding table (80) to translate until the material taking suction claw (84) translates to the position above the pre-stacking table (3);
step S15, the material taking lifting cylinder (82) drives the material taking support arm (83) and the material taking suction claw (84) to descend until the PP sheet (100) is placed on the pre-stacking table (3), and then the material taking suction nozzle (85) stops sucking air;
and step S16, the material taking lifting cylinder (82) drives the material taking support arm (83) and the material taking suction claw (84) to ascend, the material taking suction nozzle (85) is separated from the PP sheet (100), and the PP sheet (100) is kept on the pre-stacking table (3).
9. The PP sheet taking method according to claim 8, wherein the step S13 further comprises the step of shaking:
when the material taking lifting cylinder (82) drives the material taking support arm (83) and the material taking suction claw (84) to rise, the material taking translation driving mechanism (81) drives the material taking sliding table (80) to shake left and right.
10. The PP sheet taking method according to claim 9, wherein a shaking cylinder (86) is provided on the taking lifting cylinder (82), the taking arm (83) is provided on the shaking cylinder (86), the taking arm (83) is driven to ascend or descend by the shaking cylinder (86), and in the shaking step:
the shaking cylinder (86) is used for driving the material taking support arm (83) and the material taking suction claw (84) to shake up and down, and the left shaking and the right shaking are matched with the up and down shaking to shake off the redundant PP sheets (100) adsorbed by the material taking suction nozzle (85) on the PP sheet feeding mechanism (2).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010364058.XA CN111498513A (en) | 2020-04-30 | 2020-04-30 | PP sheet taking device and method |
| TW110115688A TWI819301B (en) | 2020-04-30 | 2021-04-29 | Prepreg sheet retrieval device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010364058.XA CN111498513A (en) | 2020-04-30 | 2020-04-30 | PP sheet taking device and method |
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| CN113954297A (en) * | 2021-09-28 | 2022-01-21 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111891692A (en) * | 2020-08-27 | 2020-11-06 | 江阴市查克拉科技有限公司 | LED frame product test system loading attachment |
| CN111891692B (en) * | 2020-08-27 | 2022-01-18 | 江苏暖阳半导体科技有限公司 | LED frame product test system loading attachment |
| CN112607409A (en) * | 2020-12-08 | 2021-04-06 | 宁波韵升智能技术有限公司 | Material taking mechanism and sheet type thin material product detection equipment |
| CN112607409B (en) * | 2020-12-08 | 2022-04-12 | 宁波韵升智能技术有限公司 | Material taking mechanism and sheet type thin material product detection equipment |
| CN112875315A (en) * | 2021-01-13 | 2021-06-01 | 鼎勤科技(深圳)有限公司 | Method for controlling superposition device to automatically adjust superposition height |
| CN112875315B (en) * | 2021-01-13 | 2022-04-22 | 鼎勤科技(深圳)有限公司 | Method for controlling superposition device to automatically adjust superposition height |
| CN113954297A (en) * | 2021-09-28 | 2022-01-21 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
| CN113954297B (en) * | 2021-09-28 | 2024-04-02 | 德玛克（长兴）注塑系统有限公司 | Manipulator for injection molding machine production line |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI819301B (en) | 2023-10-21 |
| TW202143816A (en) | 2021-11-16 |
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